version: 66.11
glider: 167
mission: 14
dive: 99
start: 11 1 112 19 2 41
data:
$ID,167
$MISSION,14
$DIVE,99
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,500
$D_BOOST,120
$T_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,450
$T_MISSION,520
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52251
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,425
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-968623.31
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2740
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2325
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,76
$R_STBD_OVSHOOT,52
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2968
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-16.305099
$PRESSURE_SLOPE,0.0001158971
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043364335
$SEABIRD_T_H,0.00062881975
$SEABIRD_T_I,2.1970176e-05
$SEABIRD_T_J,2.0625448e-06
$SEABIRD_C_G,-9.8829851
$SEABIRD_C_H,1.104416
$SEABIRD_C_I,-0.0016111456
$SEABIRD_C_J,0.00020720487
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,011112,185505,2328.990,12305.772,31,0.8,31,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-59.7
$GPS2,011112,190215,2329.107,12305.668,4,0.8,4,-3.7
$SPEED_LIMITS,0.127,0.250
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,89.4,92095,-12.5,-7.333,-16.34
$D_GRID,3620
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.38,-171.1,0.0,0.0,0,91,0.00,0.00,-69.75,0.000,2,0.000,0.000,109,2309,2613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.38,-171.1,3.1,-5.3,12,138,9.80,2.08,-24.17,0.000,4,0.222,0.047,2611,948,3671,0,0,0,0,0,0,25.50,26.13,26.47
$GC,212,-0.45,-171.1,16.0,-10.0,33,220,0.00,2.10,0.00,0.000,6,0.000,0.039,2611,2316,3670,0,0,0,0,0,0,28.83,26.08,28.83
$GC,527,-0.45,-171.1,46.7,-10.4,73,534,0.00,2.17,0.00,0.000,4,0.000,0.046,2611,3734,3670,0,0,0,0,0,0,28.83,26.17,28.83
$GC,586,-0.49,-171.1,50.9,-9.5,77,593,0.00,2.03,0.00,0.000,6,0.000,0.021,2611,2334,3669,0,0,0,0,0,0,28.83,26.41,28.83
$GC,894,-0.52,-171.1,79.9,-8.9,93,895,0.12,0.00,0.00,0.000,6,0.077,0.000,2529,2333,3669,0,0,0,0,0,0,26.62,28.83,28.83
$GC,1194,-0.46,-171.1,126.7,-14.7,108,1196,0.20,0.00,0.00,0.000,6,0.119,0.000,2592,2333,3670,0,0,0,0,0,0,26.32,28.83,28.83
$GC,1494,-0.54,-171.1,146.1,-6.5,123,1500,0.00,2.17,0.00,0.000,4,0.000,0.051,2592,3725,3671,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1572,-0.65,-171.1,150.1,-6.1,126,1581,0.17,2.03,0.00,0.000,6,0.062,0.024,2484,2331,3670,0,0,0,0,0,0,26.52,26.55,28.83
$GC,1878,-0.56,-171.1,192.9,-15.9,142,1884,0.22,2.05,0.00,0.000,4,0.129,0.034,2559,924,3671,0,0,0,0,0,0,26.26,26.51,28.83
$GC,1942,-0.56,-171.1,199.6,-11.6,145,1949,0.00,2.12,0.00,0.000,6,0.000,0.039,2559,2322,3671,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2267,-0.62,-171.1,225.5,-7.4,161,2272,0.00,2.17,0.00,0.000,4,0.000,0.047,2559,3740,3671,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2334,-0.70,-171.1,229.9,-7.2,164,2341,0.15,2.05,0.00,0.000,6,0.067,0.022,2467,2289,3671,0,0,0,0,0,0,26.57,26.63,28.83
$GC,2655,-0.61,-171.1,276.0,-14.5,180,2661,0.22,2.25,0.00,0.000,4,0.129,0.047,2536,3739,3669,0,0,0,0,0,0,26.27,26.41,28.83
$GC,2694,-0.55,-171.1,279.0,-13.9,181,2701,0.00,2.00,0.00,0.000,6,0.000,0.020,2536,2315,3674,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3000,-0.59,-171.1,304.1,-7.6,197,3001,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2315,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3301,-0.63,-171.1,326.9,-7.3,212,3307,0.00,2.20,0.00,0.000,4,0.000,0.049,2536,3736,3667,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3339,-0.68,-171.1,328.7,-7.2,213,3346,0.00,2.00,0.00,0.000,6,0.000,0.018,2536,2303,3667,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3645,-0.73,-171.1,349.2,-6.2,229,3650,0.00,2.22,0.00,0.000,4,0.000,0.046,2535,3745,3665,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3709,-0.79,-171.1,353.0,-6.0,232,3715,0.15,1.98,0.00,0.000,6,0.068,0.018,2447,2317,3665,0,0,0,0,0,0,26.60,26.70,28.83
$GC,4033,-0.70,-171.1,395.1,-13.8,248,4039,0.20,1.95,0.00,0.000,4,0.132,0.027,2512,961,3664,0,0,0,0,0,0,26.32,26.54,28.83
$GC,4087,-0.66,-171.1,399.9,-12.4,250,4093,0.00,2.08,0.00,0.000,6,0.000,0.045,2512,2336,3664,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4402,-0.69,-171.1,425.1,-7.6,266,4403,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2336,3662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4703,-0.72,-171.1,447.7,-7.7,281,4709,0.00,2.15,0.00,0.000,4,0.000,0.046,2508,3741,3660,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4756,-0.77,-171.1,451.5,-8.1,283,4761,0.00,1.98,0.00,0.000,6,0.000,0.019,2513,2328,3660,0,0,0,0,0,0,28.83,26.71,28.83
$GC,5070,-0.81,-171.1,478.7,-8.3,299,5075,0.00,2.17,0.00,0.000,4,0.000,0.045,2512,3737,3658,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5167,-0.85,-171.1,485.1,-7.7,303,5174,0.15,1.98,0.00,0.000,6,0.070,0.018,2431,2320,3658,0,0,0,0,0,0,26.59,26.72,28.83
$GC,5473,-0.77,-171.1,525.9,-13.5,319,5475,0.20,0.00,0.00,0.000,6,0.134,0.000,2490,2316,3656,0,0,0,0,0,0,26.32,28.83,28.83
$GC,5775,-0.79,-171.1,553.1,-9.4,334,5780,0.00,2.20,0.00,0.000,4,0.000,0.048,2491,3733,3654,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5848,-0.81,-171.1,559.3,-9.3,337,5853,0.00,1.98,0.00,0.000,6,0.000,0.019,2491,2323,3654,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6161,-0.84,-171.1,587.4,-8.5,353,6167,0.00,1.98,0.00,0.000,4,0.000,0.028,2490,952,3652,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6254,-0.86,-171.1,594.4,-8.3,357,6260,0.00,2.08,0.00,0.000,6,0.000,0.036,2490,2343,3651,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6570,-0.89,-171.1,618.4,-7.2,369,6572,0.12,0.00,0.00,0.000,6,0.080,0.000,2424,2343,3649,0,0,0,0,0,0,26.76,28.83,28.83
$GC,6868,-0.82,-171.1,651.5,-11.2,379,6874,0.15,2.15,0.00,0.000,4,0.141,0.044,2467,3731,3648,0,0,0,0,0,0,26.39,26.28,28.83
$GC,6903,-0.78,-171.1,654.8,-10.9,380,6908,0.00,2.00,0.00,0.000,6,0.000,0.021,2467,2314,3648,0,0,0,0,0,0,28.83,26.69,28.83
$GC,7237,-0.78,-171.1,681.6,-7.9,391,7238,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2314,3646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7536,-0.78,-171.1,706.3,-8.4,401,7537,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2315,3644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7835,-0.78,-171.1,729.6,-7.4,411,7841,0.00,2.20,0.00,0.000,4,0.000,0.048,2467,3721,3641,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7872,-0.78,-171.1,732.1,-7.5,412,7877,0.00,2.00,0.00,0.000,6,0.000,0.023,2467,2323,3641,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8202,-0.78,-171.1,756.7,-7.6,423,8207,0.00,2.22,0.00,0.000,4,0.000,0.049,2466,3729,3638,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8289,-0.78,-171.1,762.2,-8.1,425,8296,0.00,2.00,0.00,0.000,6,0.000,0.023,2467,2317,3638,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8596,-0.78,-171.1,790.0,-8.6,436,8601,0.00,2.20,0.00,0.000,4,0.000,0.048,2467,3722,3637,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8693,-0.78,-171.1,798.3,-8.8,439,8698,0.00,1.98,0.00,0.000,6,0.000,0.023,2467,2325,3636,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9022,-0.78,-171.1,825.9,-8.1,450,9027,0.00,2.20,0.00,0.000,4,0.000,0.049,2467,3722,3637,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9099,-0.78,-171.1,830.8,-8.0,452,9104,0.00,2.00,0.00,0.000,6,0.000,0.031,2467,2323,3633,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9417,-0.78,-171.1,855.1,-7.1,463,9422,0.00,2.20,0.00,0.000,4,0.000,0.050,2467,3720,3632,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9460,-0.79,-171.1,857.6,-7.2,464,9465,0.00,2.00,0.00,0.000,6,0.000,0.023,2467,2316,3631,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9785,-0.79,-171.1,880.4,-6.9,475,9791,0.00,2.25,0.00,0.000,4,0.000,0.050,2467,3732,3629,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9889,-0.81,-171.1,887.7,-7.5,478,9894,0.00,2.00,0.00,0.000,6,0.000,0.024,2467,2328,3628,0,0,0,0,0,0,28.83,26.59,28.83
$GC,10214,-0.83,-171.1,913.6,-8.0,489,10219,0.00,2.20,0.00,0.000,4,0.000,0.050,2467,3721,3627,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10251,-0.85,-171.1,916.5,-8.1,490,10256,0.00,2.00,0.00,0.000,6,0.000,0.025,2466,2325,3627,0,0,0,0,0,0,28.83,26.57,28.83
$GC,10581,-0.87,-171.1,943.3,-8.0,501,10587,0.00,2.22,0.00,0.000,4,0.000,0.050,2466,3732,3625,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10634,-0.89,-171.1,946.1,-7.9,502,10640,0.00,2.05,0.00,0.000,6,0.000,0.028,2467,2319,3625,0,0,0,0,0,0,28.83,25.44,28.83
$GC,10950,-0.91,-171.1,970.4,-7.0,513,10955,0.00,2.25,0.00,0.000,4,0.000,0.050,2466,3730,3623,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11024,-0.94,-171.1,974.9,-6.9,515,11029,0.00,2.03,0.00,0.000,6,0.000,0.025,2467,2319,3623,0,0,0,0,0,0,28.83,26.55,28.83
$STATE,11254,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11254,begin apogee
$GC,11260,-0.20,0.0,991.4,-6.9,523,11413,0.60,0.00,144.95,1.333,6,0.099,0.000,2670,2316,2966,0,0,0,0,0,0,25.79,28.83,23.58
$STATE,11414,end apogee,CONTROL_FINISHED_OK
$STATE,11414,begin climb
$GC,11417,0.38,171.1,997.1,0.0,528,11589,0.52,2.38,157.10,1.290,4,0.039,0.037,2885,945,2262,0,0,0,0,0,0,24.79,23.91,22.94
$GC,11708,0.26,171.1,979.1,10.7,537,11716,0.20,2.15,0.00,0.000,6,0.128,0.033,2830,2306,2253,0,0,0,0,0,0,24.98,25.20,28.83
$GC,12016,0.20,171.1,950.5,8.3,548,12021,0.00,2.22,0.00,0.000,4,0.000,0.050,2830,3700,2250,0,0,0,0,0,0,28.83,25.84,28.83
$GC,12118,0.13,171.1,941.7,9.1,551,12124,0.17,2.05,0.00,0.000,6,0.145,0.028,2780,2322,2249,0,0,0,0,0,0,25.77,26.10,28.83
$GC,12445,0.15,217.1,920.9,6.0,562,12490,0.00,0.00,43.20,1.255,6,0.000,0.000,2780,2321,2082,0,0,0,0,0,0,28.83,28.83,24.22
$GC,12774,0.19,262.0,900.8,6.0,573,12825,0.00,2.25,44.05,1.242,4,0.000,0.037,2780,905,1892,0,0,0,0,0,0,28.83,25.10,24.13
$GC,12848,0.23,307.3,897.2,6.0,575,12899,0.10,2.17,45.03,1.223,6,0.089,0.031,2835,2301,1714,0,0,0,0,0,0,25.34,25.32,23.91
$GC,13228,0.23,307.3,862.3,9.3,588,13234,0.00,2.22,0.00,0.000,4,0.000,0.049,2834,3697,1696,0,0,0,0,0,0,28.83,25.89,28.83
$GC,13305,0.23,307.3,855.5,10.0,590,13311,0.00,2.10,0.00,0.000,6,0.000,0.028,2838,2299,1695,0,0,0,0,0,0,28.83,26.10,28.83
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$STATE,23469,end climb,SURFACE_DEPTH_REACHED
$STATE,23469,begin surface coast
$FINISH,0.8,1.022464
$STATE,23502,end surface coast,CONTROL_FINISHED_OK
$STATE,23503,begin surface
$SM_CCo,23580,0.00,0.000,0,0,771,538.92
$SM_GC,1.59,7.18,0.00,0.00,0.026,0.000,0.000,118,2302,771,-8.10,-0.65,538.92,0,0,0,0,0,0,26.32,28.83,28.83
$IRIDIUM_FIX,2319.18,12305.57,011112,121203
$TT8_MAMPS,0.028462,0.028462
$HUMID,48.66
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,26.30
$XPDR_PINGS,20
$24V_AH,22.9,25.463
$10V_AH,9.7,15.389
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,22.050,210.600,580.050,0.000,0.000,0.000,0.000,243.700,5.000,0.000,5.925,3529.761,16363.355,782.348,2880.639,444.971,0.000,2461.704,0.000,2543.232,0.000,0.543,0.000
$DEVICE_MAMPS,221.850,52.020,1332.630,0.000,0.000,0.000,0.000,132.345,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23520.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.471,0.000,0.000,0.000
$MEM,329544
$DATA_FILE_SIZE,40056,1098
$CAP_FILE_SIZE,263968,0
$CFSIZE,260165632,240545792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.134,313.9,1
$GPS,021112,013706,2330.469,12308.147,41,1.1,41,-3.7